%% set some global variables (settings)
global m_point_window c_vel_pos d_max_pos_m_point c_acc_seek d_min_pos_last d_min_obst c_acc_flee

% window size for searching M point
% m_point_window = 64;
m_point_window = 64;

% proportional constant between velocity and future position
% c_vel_pos = 5;
c_vel_pos = 10;

% maximal distance between future position and respective M point
% d_max_pos_m_point = 0.1; 
d_max_pos_m_point = 0.07; 


% acceleration coefficient for seeking
% c_acc_seek = 0.1;
c_acc_seek = 0.05; % 0.05;  

% minimal distance between current position and last position of path
d_min_pos_last = 0.25;
% d_min_pos_last = 0.5;

% minimal distance between current position and obstacle
% d_min_obst = 0.5;
d_min_obst = 0.4;

% smoothing factor for fleeing angle
c_acc_flee = 0.5;
% c_acc_flee = 0.3;